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<div class="title">polynomial_calculations.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_POLYNOMIAL_CALCULATIONS_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_POLYNOMIAL_CALCULATIONS_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;pcl/common/bivariate_polynomial.h&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> real&gt;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_polynomial_calculations_t.html">   50</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_polynomial_calculations_t.html">PolynomialCalculationsT</a> </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="comment">// =====CONSTRUCTOR &amp; DESTRUCTOR=====</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html">PolynomialCalculationsT</a> ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      ~<a class="code" href="classpcl_1_1_polynomial_calculations_t.html">PolynomialCalculationsT</a> ();</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="comment">// =====PUBLIC STRUCTS=====</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html">   59</a></span>&#160;<span class="comment"></span>      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html">Parameters</a></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      {</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html">Parameters</a> () : <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a7e7c86dcdf0ac25c4652dd3449233e11">zero_value</a> (), <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a5c7180f29d4cb4d683865bdf52ec43b3">sqr_zero_value</a> () { <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a0dfdab604db028c8c9a88322256f63fb">setZeroValue</a> (1e-6);}</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a0dfdab604db028c8c9a88322256f63fb">setZeroValue</a> (real new_zero_value);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a7e7c86dcdf0ac25c4652dd3449233e11">   66</a></span>&#160;        real <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a7e7c86dcdf0ac25c4652dd3449233e11">zero_value</a>;       </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a5c7180f29d4cb4d683865bdf52ec43b3">   67</a></span>&#160;        real <a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a5c7180f29d4cb4d683865bdf52ec43b3">sqr_zero_value</a>;   </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="comment">// =====PUBLIC METHODS=====</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a8a0f1e9bc452a562226ba3d049fcec25">solveQuarticEquation</a> (real a, real b, real c, real d, real e, std::vector&lt;real&gt;&amp; roots) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a062e05d7e022faf66c9d2e6eb0bc1d7c">solveCubicEquation</a> (real a, real b, real c, real d, std::vector&lt;real&gt;&amp; roots) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a9ef9dc239623c784175b661528dc7407">solveQuadraticEquation</a> (real a, real b, real c, std::vector&lt;real&gt;&amp; roots) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#ac3a6930b43244acfd47335970abf0723">solveLinearEquation</a> (real a, real b, std::vector&lt;real&gt;&amp; roots) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT&lt;real&gt;</a></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a694d2f980ff0379e91113472dfd7febe">bivariatePolynomialApproximation</a> (std::vector&lt;Eigen::Matrix&lt;real, 3, 1&gt;, Eigen::aligned_allocator&lt;Eigen::Matrix&lt;real, 3, 1&gt; &gt; &gt;&amp; samplePoints,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                                        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> polynomial_degree, <span class="keywordtype">bool</span>&amp; error) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a694d2f980ff0379e91113472dfd7febe">bivariatePolynomialApproximation</a> (std::vector&lt;Eigen::Matrix&lt;real, 3, 1&gt;, Eigen::aligned_allocator&lt;Eigen::Matrix&lt;real, 3, 1&gt; &gt; &gt;&amp; samplePoints,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                                        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> polynomial_degree, <a class="code" href="classpcl_1_1_bivariate_polynomial_t.html">BivariatePolynomialT&lt;real&gt;</a>&amp; ret) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1_polynomial_calculations_t.html#a1e4c691ae491f88269108631681867f2">  106</a></span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a1e4c691ae491f88269108631681867f2">setZeroValue</a> (real new_zero_value) { parameters_.<a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a0dfdab604db028c8c9a88322256f63fb">setZeroValue</a>(new_zero_value); }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">protected</span>:  </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="comment">// =====PROTECTED METHODS=====</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment"></span>      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_polynomial_calculations_t.html#a22edebe53e66d99ae1ad45e8b8cb790a">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a22edebe53e66d99ae1ad45e8b8cb790a">isNearlyZero</a> (real d)<span class="keyword"> const </span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">return</span> (fabs (d) &lt; parameters_.<a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a7e7c86dcdf0ac25c4652dd3449233e11">zero_value</a>);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1_polynomial_calculations_t.html#a84239daee976d1a6c57fbd31a531764e">  119</a></span>&#160;      <a class="code" href="classpcl_1_1_polynomial_calculations_t.html#a84239daee976d1a6c57fbd31a531764e">sqrtIsNearlyZero</a> (real d)<span class="keyword"> const </span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="keyword">      </span>{ </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keywordflow">return</span> (fabs (d) &lt; parameters_.<a class="code" href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a5c7180f29d4cb4d683865bdf52ec43b3">sqr_zero_value</a>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      }</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="comment">// =====PROTECTED MEMBERS=====</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      Parameters parameters_;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  };</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keyword">typedef</span> PolynomialCalculationsT&lt;double&gt; PolynomialCalculationsd;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keyword">typedef</span> PolynomialCalculationsT&lt;float&gt;  PolynomialCalculations;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;}  <span class="comment">// end namespace</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/polynomial_calculations.hpp&gt;</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_bivariate_polynomial_t_html"><div class="ttname"><a href="classpcl_1_1_bivariate_polynomial_t.html">pcl::BivariatePolynomialT</a></div><div class="ttdoc">This represents a bivariate polynomial and provides some functionality for it</div><div class="ttdef"><b>Definition:</b> bivariate_polynomial.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html">pcl::PolynomialCalculationsT</a></div><div class="ttdoc">This provides some functionality for polynomials, like finding roots or approximating bivariate polyn...</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:51</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a062e05d7e022faf66c9d2e6eb0bc1d7c"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a062e05d7e022faf66c9d2e6eb0bc1d7c">pcl::PolynomialCalculationsT::solveCubicEquation</a></div><div class="ttdeci">void solveCubicEquation(real a, real b, real c, real d, std::vector&lt; real &gt; &amp;roots) const</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a1e4c691ae491f88269108631681867f2"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a1e4c691ae491f88269108631681867f2">pcl::PolynomialCalculationsT::setZeroValue</a></div><div class="ttdeci">void setZeroValue(real new_zero_value)</div><div class="ttdoc">Set the minimum value under which values are considered zero</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a22edebe53e66d99ae1ad45e8b8cb790a"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a22edebe53e66d99ae1ad45e8b8cb790a">pcl::PolynomialCalculationsT::isNearlyZero</a></div><div class="ttdeci">bool isNearlyZero(real d) const</div><div class="ttdoc">check if fabs(d)&lt;zeroValue</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a694d2f980ff0379e91113472dfd7febe"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a694d2f980ff0379e91113472dfd7febe">pcl::PolynomialCalculationsT::bivariatePolynomialApproximation</a></div><div class="ttdeci">BivariatePolynomialT&lt; real &gt; bivariatePolynomialApproximation(std::vector&lt; Eigen::Matrix&lt; real, 3, 1 &gt;, Eigen::aligned_allocator&lt; Eigen::Matrix&lt; real, 3, 1 &gt; &gt; &gt; &amp;samplePoints, unsigned int polynomial_degree, bool &amp;error) const</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:374</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a84239daee976d1a6c57fbd31a531764e"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a84239daee976d1a6c57fbd31a531764e">pcl::PolynomialCalculationsT::sqrtIsNearlyZero</a></div><div class="ttdeci">bool sqrtIsNearlyZero(real d) const</div><div class="ttdoc">check if sqrt(fabs(d))&lt;zeroValue</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a8a0f1e9bc452a562226ba3d049fcec25"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a8a0f1e9bc452a562226ba3d049fcec25">pcl::PolynomialCalculationsT::solveQuarticEquation</a></div><div class="ttdeci">void solveQuarticEquation(real a, real b, real c, real d, real e, std::vector&lt; real &gt; &amp;roots) const</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:220</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_a9ef9dc239623c784175b661528dc7407"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#a9ef9dc239623c784175b661528dc7407">pcl::PolynomialCalculationsT::solveQuadraticEquation</a></div><div class="ttdeci">void solveQuadraticEquation(real a, real b, real c, std::vector&lt; real &gt; &amp;roots) const</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_polynomial_calculations_t_html_ac3a6930b43244acfd47335970abf0723"><div class="ttname"><a href="classpcl_1_1_polynomial_calculations_t.html#ac3a6930b43244acfd47335970abf0723">pcl::PolynomialCalculationsT::solveLinearEquation</a></div><div class="ttdeci">void solveLinearEquation(real a, real b, std::vector&lt; real &gt; &amp;roots) const</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:29</div></div>
<div class="ttc" id="astructpcl_1_1_polynomial_calculations_t_1_1_parameters_html"><div class="ttname"><a href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html">pcl::PolynomialCalculationsT::Parameters</a></div><div class="ttdoc">Parameters used in this class</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:60</div></div>
<div class="ttc" id="astructpcl_1_1_polynomial_calculations_t_1_1_parameters_html_a0dfdab604db028c8c9a88322256f63fb"><div class="ttname"><a href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a0dfdab604db028c8c9a88322256f63fb">pcl::PolynomialCalculationsT::Parameters::setZeroValue</a></div><div class="ttdeci">void setZeroValue(real new_zero_value)</div><div class="ttdoc">Set zero_value</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.hpp:19</div></div>
<div class="ttc" id="astructpcl_1_1_polynomial_calculations_t_1_1_parameters_html_a5c7180f29d4cb4d683865bdf52ec43b3"><div class="ttname"><a href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a5c7180f29d4cb4d683865bdf52ec43b3">pcl::PolynomialCalculationsT::Parameters::sqr_zero_value</a></div><div class="ttdeci">real sqr_zero_value</div><div class="ttdoc">sqr of the above</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:67</div></div>
<div class="ttc" id="astructpcl_1_1_polynomial_calculations_t_1_1_parameters_html_a7e7c86dcdf0ac25c4652dd3449233e11"><div class="ttname"><a href="structpcl_1_1_polynomial_calculations_t_1_1_parameters.html#a7e7c86dcdf0ac25c4652dd3449233e11">pcl::PolynomialCalculationsT::Parameters::zero_value</a></div><div class="ttdeci">real zero_value</div><div class="ttdoc">Every value below this is considered to be zero</div><div class="ttdef"><b>Definition:</b> polynomial_calculations.h:66</div></div>
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